\section{Open Loop Analysis}

\frame{
  \frametitle{Outline}
  \tableofcontents[sectionstyle=show/shaded,subsectionstyle=hide]
}

\subsection{Open Loop Analysis}

\frame[t]{
\frametitle{Open Loop System Analysis}
   \only<1>{
    \vspace{-1mm}
    \begin{figure}
      \centering
      \vspace{-1mm}
      \includegraphics[height=0.5\textheight]{poleszeros_plant_ol}
      \caption{Poles of open loop system (real part)}
    \end{figure}
  }
}

\frame[t] {
  \frametitle{Open Loop System Analysis}
  No Zeros
  \begin{itemize}
  \item
   No nonminimum phase transmission zeros when designing the controller
  \end{itemize}
  Unstable and Stable Poles
  \begin{itemize}
  \item
    Distributed in the left and right half-planes
  \item
    Unstable open loop plant model
  \item
    Stabilizing the open loop by designing a proper controller
  \end{itemize}
}

\frame[t]{
\frametitle{Open Loop System Analysis}
 Singular Values Plot
   \only<1>{
    \vspace{-1mm}
    \begin{figure}
      \centering
      \vspace{-1mm}
      \includegraphics[height=0.65\textheight]{singularvalues_plant_phip_ol}
      \caption{Singular Values of the Open Loop Model}
    \end{figure}
  }
}


\frame[t] {
  \frametitle{Open Loop System Analysis}
  \begin{itemize}
  \item
   Minimum and maximum singular values are small
  \item
   Low and high frequency barrier requirement
  \item
   Nominal performance
  \item
   Command following, disturbance rejection and sensitivity reduction
  \end{itemize}
}

